Locally operated master-slave control system with mechanically separable portable device and forceps manipulator for endoscopic surgery
A new locally operated unilateral master-slave manipulator for endoscopic surgery performed by a surgeon in a sterilized area was developed. The manipulator system consists of a portable master device and a forceps slave manipulator (revised parallel-linkage mobile LODEM) as the third arm. We propos...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | Japanese |
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The Japan Society of Mechanical Engineers
2018-12-01
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| Series: | Nihon Kikai Gakkai ronbunshu |
| Subjects: | |
| Online Access: | https://www.jstage.jst.go.jp/article/transjsme/84/868/84_18-00152/_pdf/-char/en |
| _version_ | 1828296508746760192 |
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| author | Hiroyuki KOBAYASHI Toshikazu KAWAI Yuji NISHIZAWA Atsushi NISHIKAWA Noriyasu IWAMOTO Yuki HORISE Ken MASAMUNE |
| author_facet | Hiroyuki KOBAYASHI Toshikazu KAWAI Yuji NISHIZAWA Atsushi NISHIKAWA Noriyasu IWAMOTO Yuki HORISE Ken MASAMUNE |
| author_sort | Hiroyuki KOBAYASHI |
| collection | DOAJ |
| description | A new locally operated unilateral master-slave manipulator for endoscopic surgery performed by a surgeon in a sterilized area was developed. The manipulator system consists of a portable master device and a forceps slave manipulator (revised parallel-linkage mobile LODEM) as the third arm. We propose the mechanically separable portable device which can be set anywhere beside the operating table. The master device consists of a portable mechanical part that can be autoclave sterilized and an encoder sensor part connected to driving wires covered with a coiled steel flexible cable tube. The five-DOFs master devices use a magnetic ball joint and gimbals for the pitch and yaw axes, a linear guide for the insertion axis, a circular dial for the roll axis, and a handle for the grasp axis. The dimensions of the mechanical component are 130 mm × 130 mm × 350 mm, and its mass is 1.0 kg. The operating ranges for these axes are ±70 °, ±70 °, 100 mm, ±180 °, and 40 °, respectively. The mechanical backlash is 0.8 ° to 4.9 ° for the pitch and yaw axes, and 0.6 mm to 2.6 mm for the insertion axis. The modified mobile LODEM, which is used as the slave manipulator, is unilateral master-slave controlled by the master device. The master-slave manipulator was confirmed for the pitch, the yaw, the insertion, and the roll axes when the velocities are 15 °/s, 15 °/s, 50 mm/s, and 1080 °/s, respectively. Simulated laparoscopic cholecystectomy was performed on a surgically realistic model in a training box by an endoscope specialist. The forceps slave manipulator was driven under the surgeon’s master-slave control using the portable master device. The experimental results indicate that 5 mm backlash at the handle of master device is not large for the master-slave manipulator as the assistant. The results of the present study suggest that the proposed system could be used for robotically assisted laparoscopic surgery by a surgeon working near the patient. |
| first_indexed | 2024-04-13T12:13:11Z |
| format | Article |
| id | doaj.art-bd2ae45348fd4f6b84f4b350ee9fd3ac |
| institution | Directory Open Access Journal |
| issn | 2187-9761 |
| language | Japanese |
| last_indexed | 2024-04-13T12:13:11Z |
| publishDate | 2018-12-01 |
| publisher | The Japan Society of Mechanical Engineers |
| record_format | Article |
| series | Nihon Kikai Gakkai ronbunshu |
| spelling | doaj.art-bd2ae45348fd4f6b84f4b350ee9fd3ac2022-12-22T02:47:26ZjpnThe Japan Society of Mechanical EngineersNihon Kikai Gakkai ronbunshu2187-97612018-12-018486818-0015218-0015210.1299/transjsme.18-00152transjsmeLocally operated master-slave control system with mechanically separable portable device and forceps manipulator for endoscopic surgeryHiroyuki KOBAYASHI0Toshikazu KAWAI1Yuji NISHIZAWA2Atsushi NISHIKAWA3Noriyasu IWAMOTO4Yuki HORISE5Ken MASAMUNE6Graduate School of Engineering, Osaka Institute of TechnologyFaculty of Robotics & Design, Osaka Institute of TechnologyDepartment of Colorectal Surgery, National Cancer Center Hospital EastFaculty of Textile Science and Technology, Shinshu UniversityFaculty of Textile Science and Technology, Shinshu UniversityInstitute of Advanced Biomedical Engineering and Science, Tokyo Women's Medical UniversityInstitute of Advanced Biomedical Engineering and Science, Tokyo Women's Medical UniversityA new locally operated unilateral master-slave manipulator for endoscopic surgery performed by a surgeon in a sterilized area was developed. The manipulator system consists of a portable master device and a forceps slave manipulator (revised parallel-linkage mobile LODEM) as the third arm. We propose the mechanically separable portable device which can be set anywhere beside the operating table. The master device consists of a portable mechanical part that can be autoclave sterilized and an encoder sensor part connected to driving wires covered with a coiled steel flexible cable tube. The five-DOFs master devices use a magnetic ball joint and gimbals for the pitch and yaw axes, a linear guide for the insertion axis, a circular dial for the roll axis, and a handle for the grasp axis. The dimensions of the mechanical component are 130 mm × 130 mm × 350 mm, and its mass is 1.0 kg. The operating ranges for these axes are ±70 °, ±70 °, 100 mm, ±180 °, and 40 °, respectively. The mechanical backlash is 0.8 ° to 4.9 ° for the pitch and yaw axes, and 0.6 mm to 2.6 mm for the insertion axis. The modified mobile LODEM, which is used as the slave manipulator, is unilateral master-slave controlled by the master device. The master-slave manipulator was confirmed for the pitch, the yaw, the insertion, and the roll axes when the velocities are 15 °/s, 15 °/s, 50 mm/s, and 1080 °/s, respectively. Simulated laparoscopic cholecystectomy was performed on a surgically realistic model in a training box by an endoscope specialist. The forceps slave manipulator was driven under the surgeon’s master-slave control using the portable master device. The experimental results indicate that 5 mm backlash at the handle of master device is not large for the master-slave manipulator as the assistant. The results of the present study suggest that the proposed system could be used for robotically assisted laparoscopic surgery by a surgeon working near the patient.https://www.jstage.jst.go.jp/article/transjsme/84/868/84_18-00152/_pdf/-char/ensurgical robotthird armmaster-slave controllocally operatedlaparoscopic surgery |
| spellingShingle | Hiroyuki KOBAYASHI Toshikazu KAWAI Yuji NISHIZAWA Atsushi NISHIKAWA Noriyasu IWAMOTO Yuki HORISE Ken MASAMUNE Locally operated master-slave control system with mechanically separable portable device and forceps manipulator for endoscopic surgery Nihon Kikai Gakkai ronbunshu surgical robot third arm master-slave control locally operated laparoscopic surgery |
| title | Locally operated master-slave control system with mechanically separable portable device and forceps manipulator for endoscopic surgery |
| title_full | Locally operated master-slave control system with mechanically separable portable device and forceps manipulator for endoscopic surgery |
| title_fullStr | Locally operated master-slave control system with mechanically separable portable device and forceps manipulator for endoscopic surgery |
| title_full_unstemmed | Locally operated master-slave control system with mechanically separable portable device and forceps manipulator for endoscopic surgery |
| title_short | Locally operated master-slave control system with mechanically separable portable device and forceps manipulator for endoscopic surgery |
| title_sort | locally operated master slave control system with mechanically separable portable device and forceps manipulator for endoscopic surgery |
| topic | surgical robot third arm master-slave control locally operated laparoscopic surgery |
| url | https://www.jstage.jst.go.jp/article/transjsme/84/868/84_18-00152/_pdf/-char/en |
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